WO2013077143A1 - 車両用走行制御装置 - Google Patents
車両用走行制御装置 Download PDFInfo
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- WO2013077143A1 WO2013077143A1 PCT/JP2012/077844 JP2012077844W WO2013077143A1 WO 2013077143 A1 WO2013077143 A1 WO 2013077143A1 JP 2012077844 W JP2012077844 W JP 2012077844W WO 2013077143 A1 WO2013077143 A1 WO 2013077143A1
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- reaction force
- vehicle
- accelerator pedal
- control device
- state
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
- B60K26/021—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements with means for providing feel, e.g. by changing pedal force characteristics
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K6/00—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00
- B60K6/20—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs
- B60K6/42—Arrangement or mounting of plural diverse prime-movers for mutual or common propulsion, e.g. hybrid propulsion systems comprising electric motors and internal combustion engines ; Control systems therefor, i.e. systems controlling two or more prime movers, or controlling one of these prime movers and any of the transmission, drive or drive units Informative references: mechanical gearings with secondary electric drive F16H3/72; arrangements for handling mechanical energy structurally associated with the dynamo-electric machine H02K7/00; machines comprising structurally interrelated motor and generator parts H02K51/00; dynamo-electric machines not otherwise provided for in H02K see H02K99/00 the prime-movers consisting of electric motors and internal combustion engines, e.g. HEVs characterised by the architecture of the hybrid electric vehicle
- B60K6/48—Parallel type
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/10—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines
- B60L50/16—Electric propulsion with power supplied within the vehicle using propulsion power supplied by engine-driven generators, e.g. generators driven by combustion engines with provision for separate direct mechanical propulsion
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
- B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
- B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K26/00—Arrangements or mounting of propulsion unit control devices in vehicles
- B60K26/02—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements
- B60K26/021—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements with means for providing feel, e.g. by changing pedal force characteristics
- B60K2026/023—Arrangements or mounting of propulsion unit control devices in vehicles of initiating means or elements with means for providing feel, e.g. by changing pedal force characteristics with electrical means to generate counter force or torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/24—Energy storage means
- B60W2510/242—Energy storage means for electrical energy
- B60W2510/244—Charge state
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/62—Hybrid vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S903/00—Hybrid electric vehicles, HEVS
- Y10S903/902—Prime movers comprising electrical and internal combustion motors
- Y10S903/903—Prime movers comprising electrical and internal combustion motors having energy storing means, e.g. battery, capacitor
- Y10S903/93—Conjoint control of different elements
Definitions
- the present invention relates to a vehicle travel control device that applies a reaction force to an accelerator pedal. More specifically, the present invention switches the operating states of a plurality of driving sources that generate driving force according to the opening degree of the accelerator pedal and the like, and the timing of the switching is given to the driver by the reaction force to the accelerator pedal.
- the present invention relates to a vehicular travel control device for notification.
- JP 2005-271618 A discloses an accelerator reaction force control device used in a hybrid electric vehicle. Specifically, JP 2005-271618 A has a motor travel region driven by the vehicle drive motor 7 and an engine travel region driven by the engine 6, and the motor travel region shifts to the engine travel region. In this case, the depression reaction force of the accelerator pedal 2 is increased (summary). Thus, when the drive source is switched from the motor 7 to the engine 6, the driver is notified by the reaction force against the accelerator pedal ([0005]).
- JP 272005-271618 A discloses a control for charging the battery by driving only the engine 6 when the battery charge amount is not equal to or greater than a predetermined value (S1: NO ⁇ S9 in FIG. 4, [0018]). , Claim 2).
- JP 2005-271618 A when the battery charge amount is not equal to or greater than a predetermined value, the battery is charged by being driven only by the engine 6. For this reason, even when the driver depresses the accelerator pedal as much as possible within a movable range and demands a large driving force, only the engine 6 can travel and the motor 7 is driven together with the engine 6. Therefore, the driving force requested by the driver may not be obtained.
- the present invention has been made in consideration of such problems. Even when the remaining amount of power of the power storage device is small, the vehicle is driven by both the internal combustion engine and the electric motor as drive sources as necessary. It is an object of the present invention to provide a vehicular travel control device that enables the above.
- the vehicle travel control apparatus supplies an electric motor that supplies a first driving force for driving the vehicle to the driving wheel side, and a second driving force that drives the vehicle to the driving wheel side or the motor side.
- the first traveling state is set corresponding to an opening degree of the accelerator pedal smaller than the second traveling state, and the vehicle traveling control device is further switched.
- a remaining power detection means for detecting the remaining power of the power storage device, and when the remaining power detected by the remaining power detection means falls below a first predetermined value, the reaction force application means comprises: Before the first traveling state is switched to the second traveling state, a first accelerator pedal opening threshold value for increasing a reaction force to the accelerator pedal is set.
- the state is switched from the first traveling state in which the vehicle is driven only by the internal combustion engine to the second traveling state in which the vehicle is driven by the internal combustion engine and the electric motor. That is, the reaction force of the accelerator pedal is increased in the first traveling state. For this reason, when the accelerator pedal is depressed beyond the opening degree at which the reaction force increases, the vehicle can be driven by the internal combustion engine and the electric motor. Thereby, it becomes possible to generate a large driving force according to the driver's intention to accelerate.
- the accelerator pedal is held without exceeding the threshold for increasing the reaction force, the motor is not driven. For this reason, it becomes possible to suppress the electric power consumption of the electrical storage apparatus accompanying the drive of an electric motor.
- charging of the power storage device can be promoted through driving by an internal combustion engine or regeneration by an electric motor.
- the vehicle travel control device further includes a generator that generates electric power in response to driving of the internal combustion engine, and charges the generated electric power to the power storage device, and the first accelerator pedal opening threshold value is a unit amount.
- the power generation amount of the generator may be set in a region where the power generation amount of the generator is equal to or greater than a first power generation amount threshold by driving the internal combustion engine with fuel.
- the vehicular travel control device further includes electric motor control means for controlling driving and regeneration or power generation of the electric motor, and the electric motor regenerates or generates electric power according to the driving of the internal combustion engine, and regenerates or generates electric power.
- the power storage device is charged, and the motor control means causes the internal combustion engine to perform regeneration or power generation in the first running state, and the first accelerator pedal opening threshold is a fuel per unit amount.
- the electric power generation amount of the electric motor may be set within a region where the electric power generation amount is equal to or greater than a second power generation amount threshold value by driving the internal combustion engine. As a result, when the accelerator pedal is held at or near the first accelerator pedal opening threshold value, the amount of power generated by the electric motor can be relatively increased. Accordingly, charging of the power storage device can be promoted.
- a third driving state in which the vehicle is driven only by the electric motor is set corresponding to the opening degree of the accelerator pedal smaller than the first driving state, and is detected by the remaining power detection means.
- the reaction force applying means applies a reaction force to the accelerator pedal before the switching from the third traveling state to the first traveling state.
- a second accelerator pedal opening threshold value to be increased may be set.
- the state immediately before switching from the third traveling state in which the vehicle travels only with the electric motor to the first traveling state in which the vehicle travels only with the internal combustion engine, that is, the first The reaction force of the accelerator pedal is increased in the 3 running state.
- traveling with only an electric motor has higher fuel efficiency than traveling using an internal combustion engine.
- the use of the third traveling state is permitted, and when the remaining electric power is less than the second predetermined value, the use of the third traveling state is prohibited.
- Switching between the control when the remaining amount of power exceeds the second predetermined value and the control when the remaining amount of power falls below the second predetermined value is performed when the opening of the accelerator pedal is zero. You may perform, when the said reaction force by a force provision means is not produced
- an all-cylinder operating state in which all cylinders of the internal combustion engine are operated and a cylinder deactivation state in which only some cylinders of the internal combustion engine are operated may be set.
- the cylinder deactivation state may be set in a region higher than the vehicle speed at which the third traveling state is set.
- the third traveling state in which the vehicle is driven only by the electric motor is switched to the first traveling state (cylinder deactivation state) in which the vehicle is driven only by the internal combustion engine, the internal combustion engine operates only a part of the cylinders.
- the reaction force applying means may set a cylinder deactivation assist threshold value that increases a reaction force to the accelerator pedal before the cylinder deactivation state and the all cylinder operation state are switched. This makes it possible to notify the driver of the switching between the cylinder deactivation state and the all cylinder operation state. As a result, for example, it is possible to improve fuel efficiency by trying to maintain the cylinder deactivation state by the driver.
- the cylinder deactivation assist threshold value may be set lower than the first accelerator pedal opening threshold value. As a result, a reaction force based on energy efficiency can be applied.
- the second accelerator pedal opening threshold and the cylinder deactivation assist threshold are determined based on the accelerator pedal opening, the required driving force or actual driving force of the vehicle, or the throttle valve opening, the vehicle speed, or the rotational speed of the internal combustion engine.
- the second accelerator pedal opening threshold and the cylinder deactivation assist threshold are switched according to the vehicle speed or the rotational speed of the internal combustion engine.
- a continuous value may be set.
- FIG. 1 is a block diagram of a vehicle equipped with a vehicle travel control apparatus according to an embodiment of the present invention. It is a figure which shows the selection characteristic (high residual amount map) of a drive source when a battery remaining amount is large. It is a figure which shows the selection characteristic (low residual amount map) when the said battery remaining amount is small.
- the pedal opening and the reaction force applied to the accelerator pedal (the pedal reaction) when the accelerator pedal opening (pedal opening) is increased and then the pedal opening is decreased.
- the 1st example of the relationship of force is shown in the pedal opening and the reaction force applied to the accelerator pedal (the pedal reaction) when the accelerator pedal opening (pedal opening) is increased and then the pedal opening is decreased.
- FIG. 1 is a block diagram of a vehicle 10 equipped with a vehicle travel control device 12 (hereinafter referred to as “travel control device 12” or “control device 12”) according to an embodiment of the present invention.
- the vehicle 10 is a so-called hybrid vehicle, and includes an engine 14 and a travel motor 16 (hereinafter also referred to as “motor 16”) as a drive source.
- the vehicle 10 in addition to an engine 14 (internal combustion engine) and a motor 16 (electric motor), the vehicle 10 includes an alternator 18 (generator), an inverter 20, a battery 22 (power storage device), an SOC sensor 24, and motor electronic control.
- Device 26 hereinafter referred to as “motor ECU 26”
- transmission 28 transmission electronic control device 30
- drive state ECU 32 drive state ECU 32
- accelerator The pedal 34, the pedal side arm 36, the opening degree sensor 38, the reaction force motor 40, the motor side arm 42, the vehicle speed sensor 44, and a reaction force electronic control device 46 (hereinafter referred to as “reaction force ECU 46”).
- the drive source is selected according to the opening of the accelerator pedal 34 (hereinafter referred to as “pedal opening ⁇ ”) or the like (that is, either or both of the engine 14 and the travel motor 16).
- the driver preferably uses the reaction force applied to the accelerator pedal 34 from the reaction force motor 40 (hereinafter referred to as “pedal reaction force Fr”) so that the driver suitably selects the drive source.
- the operation of the accelerator pedal 34 is guided so that it can be selected.
- the accelerator pedal 34 controls the output of the drive source, and is fixed to the pedal side arm 36.
- the pedal side arm 36 is connected to a return spring (not shown) so as to be able to turn.
- the accelerator pedal 34 is returned to the original position by the urging force (spring reaction force Fr_sp) from the return spring.
- the opening sensor 38 detects the depression amount (pedal opening ⁇ ) from the original position of the accelerator pedal 34 and transmits it to the drive state ECU 32 and the reaction force ECU 46.
- the pedal opening ⁇ is used for controlling the drive source (the engine 14 and the traveling motor 16) and for controlling the reaction force (pedal reaction force Fr) against the accelerator pedal 34.
- the motor side arm 42 is disposed so as to be able to turn at a position where it can come into contact with the pedal side arm 36.
- the reaction force motor 40 drives the motor side arm 42 to apply the pedal reaction force Fr to the pedal side arm 36 and the accelerator pedal 34.
- the reaction force ECU 46 includes an input / output unit, a calculation unit, and a storage unit (not shown), and generates a reaction force generation command for the driving force of the reaction force motor 40 (ie, the pedal reaction force Fr) based on the pedal opening ⁇ and the vehicle speed V. Control by Sr.
- the reaction force motor 40 may be other driving force generation means (for example, a pneumatic actuator).
- the reaction force motor 40 and the reaction force ECU 46 function as a reaction force applying unit that applies a pedal reaction force Fr to the accelerator pedal 34.
- the engine 14 (internal combustion engine) generates a driving force Fe [N] (or torque [N ⁇ m]) as a driving source for traveling of the vehicle 10 and supplies it to a driving wheel (not shown), and operates the alternator 18. To generate power.
- the electric power (hereinafter referred to as “generated power Pgen”) [W] generated by the alternator 18 is supplied to the battery 22, a 12-volt system (not shown) or an auxiliary machine.
- the engine 14 of the present embodiment is an 8-cylinder type, and can perform a cylinder deactivation operation in which only some cylinders are operated and other cylinders are not operated.
- the traveling motor 16 (electric motor) is a three-phase alternating current brushless type, and generates the driving force Fm [N] (or torque [N ⁇ m]) of the vehicle 10 based on the electric power supplied from the battery 22 via the inverter 20. Generated and supplied to the drive wheel. Further, the traveling motor 16 charges the battery 22 by outputting electric power (hereinafter referred to as “regenerative power Preg”) [W] generated by collecting deceleration energy as regenerative energy to the battery 22.
- the regenerative power Preg may be output to a 12 volt system or an auxiliary machine (not shown).
- the inverter 20 is configured as a three-phase bridge type, performs DC / AC conversion, converts DC to three-phase AC, and supplies it to the traveling motor 16, while DC after AC / DC conversion accompanying the regenerative operation. Is supplied to the battery 22.
- the SOC sensor 24 (remaining electric power detection means) is configured by a current sensor or the like (not shown), detects the remaining amount (SOC: StateSOof Charge) of the battery 22 and transmits it to the motor ECU 26, the drive state ECU 32, and the reaction force ECU 46. .
- the motor ECU 26 (electric motor control means) controls the inverter 20 based on commands from the drive state ECU 32 and outputs from various sensors (not shown) such as a voltage sensor and a current sensor, thereby outputting the driving motor 16 (propulsion power). To control.
- the motor ECU 26 controls the operation of the transmission 28 via the T / M ECU 30.
- the drive state ECU 32 plays a role of an engine electronic control unit (hereinafter referred to as “engine ECU”) for controlling the engine 14 and drives the engine 14 and the traveling motor 16 together using the pedal opening ⁇ and the vehicle speed V. Control the entire source.
- engine ECU engine electronic control unit
- the drive motor 16 is selected according to the vehicle speed V and the required drive force Freq [N] (or the required torque [N ⁇ m]) of the travel motor 16 as the selection of the drive source (selection of the travel state of the vehicle 10). Travel by only the operation (hereinafter referred to as “MOT travel”), travel by only the operation of the engine 14 (herein, the operation of all cylinders) (hereinafter referred to as “ENG travel”), and both the travel motor 16 and the engine 14.
- MOT travel travel only the operation
- ENG travel travel by only the operation of the engine 14
- ENG travel both the travel motor 16 and the engine 14.
- Travel by operation (hereinafter referred to as “ENG + MOT travel”) and travel (hereinafter referred to as “cylinder deactivation travel”) by only the operation of the engine 14 (operation in the cylinder deactivation state) are possible.
- the switching is performed according to the vehicle speed V, the remaining amount (SOC) of the battery 22, and the pedal opening degree ⁇ .
- the pedal opening degree ⁇ can be handled as substantially indicating the required driving force Freq of the traveling motor 16.
- FIG. 2 is a diagram illustrating a drive source selection characteristic (a large remaining amount map) when the remaining amount of the battery 22 is large.
- “when the remaining amount is large” means, for example, that the battery 22 has sufficient power to travel only by the traveling motor 16, and the specific value of the remaining amount is It can be set as appropriate according to the specifications of the traveling motor 16 and the like.
- MOT traveling is selected.
- ENG travel is selected when the pedal opening ⁇ is relatively larger than in MOT travel (that is, when the required driving force Freq is greater than in MOT travel) or when the vehicle speed V is higher than in MOT travel. Is done.
- the pedal opening degree ⁇ is larger than that in ENG traveling (that is, when the required driving force Freq is larger than ENG traveling) or when the vehicle speed V is high, ENG + MOT traveling is selected.
- cylinder deactivation traveling is selected.
- FIG. 3 is a diagram showing a drive source selection characteristic (low remaining amount map) used when the remaining amount of the battery 22 is small.
- “when the remaining amount is small” means, for example, that the battery 22 does not have enough power to travel only by the traveling motor 16, and the specific value of the remaining amount is It can be set as appropriate according to the specifications of the traveling motor 16 and the like.
- FIG. 3 shows characteristics used when the remaining amount of the battery 22 is small. Therefore, avoiding traveling by only the traveling motor 16 in which the amount of power supplied from the battery 22 is increased, the vehicle speed V is low, and the required driving force Freq. This is because the engine 14 is driven even when the engine speed is small. As a result, while the power consumption of the battery 22 is suppressed, the alternator 18 can be operated by driving the engine 14 to charge the battery 22.
- MOT travel assistance In general, when the vehicle 10 is at a low speed and the required driving force Freq is low, traveling by the engine 14 has low fuel efficiency, and traveling by the traveling motor 16 has higher energy efficiency. Therefore, in the present embodiment, if the remaining amount of the battery 22 is large and the vehicle 10 is at a low speed and the required driving force Freq is low, MOT traveling is selected (FIG. 2). In this case, the pedal reaction force Fr is increased at the pedal opening ⁇ at which MOT travel and ENG travel are switched, and the driver is notified of the pedal opening ⁇ at which MOT travel and ENG travel are switched. This prompts selection of MOT travel.
- the pedal opening ⁇ is a line indicated by “TH1” (hereinafter referred to as “MOT travel assist threshold TH1,” “first reaction force increase threshold TH1,” or “ When it is above the threshold value TH1 "), the reaction force ECU 46 increases the pedal reaction force Fr.
- the first reaction force increase threshold TH1 is a curve that extends so as to straddle a third reaction force increase threshold TH3 (to be described later) (in other words, the first reaction force increase threshold TH1 is temporarily interrupted and the curve of the third reaction force increase threshold TH3 is interrupted in the meantime). (Curved curve). Accordingly, the first reaction force increase threshold value TH1 and the third reaction force increase threshold value TH3 are continuous (the values have continuity and do not change greatly).
- the pedal reaction force Fr is increased at the pedal opening ⁇ where the energy efficiency is higher among the pedal opening ⁇ smaller than the pedal opening ⁇ at which the ENG traveling and the ENG + MOT traveling are switched.
- the pedal opening ⁇ is indicated by a line indicated by “TH2” (hereinafter referred to as “high efficiency output assist threshold TH2”, “second reaction force increase threshold TH2”).
- TH2 high efficiency output assist threshold
- second reaction force increase threshold TH2 second reaction force increase threshold
- the high-efficiency output assist threshold TH2 is a value within a region (hereinafter, referred to as “high-efficiency power generation region” or “charging promotion region”) in which the energy torque obtained by fuel per unit amount (for example, 1 cc) is maximum. Is set. Thereby, the power generation amount of the alternator 18 when the engine 14 is driven by the fuel per unit amount becomes relatively high.
- the high-efficiency output assist threshold TH2 is based on the net fuel consumption rate (BSFC: Brake : Specific Fuel Consumption) from the relationship between the pedal opening ⁇ and the vehicle speed V (or engine speed [rpm]).
- BSFC Brake : Specific Fuel Consumption
- the best fuel consumption point or the pedal opening ⁇ within the best fuel consumption range can be set as the high efficiency output assist threshold TH2.
- the pedal opening ⁇ is a line indicated by “TH3” (hereinafter referred to as “cylinder deactivation assist threshold TH3”, “third reaction force increase threshold TH3” or “ When it is above the threshold value TH3 "), the reaction force ECU 46 increases the pedal reaction force Fr.
- TH3 cylinder deactivation assist threshold
- TH3 third reaction force increase threshold
- the reaction force ECU 46 increases the pedal reaction force Fr.
- the first to third reaction force increase thresholds TH1, TH2, and TH3 are collectively referred to as “a large remaining amount threshold value”.
- FIG. 4 shows a first example of the relationship between the pedal opening ⁇ and the pedal reaction force Fr when the pedal opening ⁇ is increased and then the pedal opening ⁇ is decreased when the remaining amount of the battery 22 is large.
- FIG. 5 shows a second example of the relationship between the pedal opening ⁇ and the pedal reaction force Fr when the pedal opening ⁇ is increased and then the pedal opening ⁇ is decreased when the remaining amount of the battery 22 is large.
- the pedal opening ⁇ is a line indicated by “TH4” (hereinafter referred to as “charging acceleration assist threshold TH4”, “fourth reaction force increase threshold TH4” or “ When it is above the threshold value TH4 "), the reaction force ECU 46 increases the pedal reaction force Fr.
- the charging promotion assist threshold value TH4 is not limited as long as it can notify the driver of the pedal opening ⁇ at which the MOT traveling and the ENG traveling are switched and can prompt the battery 22 to be rapidly charged. These may be the same as or different from the high-efficiency output assist threshold TH2 in FIG.
- a line TH5 in FIG. 3 indicates a threshold value for rapidly increasing the pedal reaction force Fr before switching from the cylinder deactivation travel to the ENG travel, similarly to the cylinder deactivation assist threshold TH3 (third reaction force increase threshold TH3) in FIG. (Hereinafter referred to as “cylinder deactivation assist threshold TH5”, “fifth reaction force increase threshold TH5”, or “threshold TH5”).
- the fourth and fifth reaction force increase thresholds TH4 and TH5 are collectively referred to as “low remaining amount threshold”.
- FIG. 6 is a diagram illustrating an example of the relationship between the pedal opening ⁇ and the pedal reaction force Fr when the pedal opening ⁇ is increased and then the pedal opening ⁇ is decreased when the remaining amount of the battery 22 is small. It is.
- FIG. 7 is a flowchart in which the reaction force ECU 46 sets the pedal reaction force Fr.
- step S1 the reaction force ECU 46 determines whether to permit switching between the reaction force large map (FIG. 2) and the reaction force small map (FIG. 3). If it is always allowed to switch between the two maps, there is a possibility that the driver may feel uncomfortable. Therefore, in this embodiment, switching between both maps is performed only when a predetermined condition is satisfied. Specifically, when the pedal opening ⁇ is zero (that is, when the accelerator pedal 34 is in the original position), when the pedal reaction force Fr by the reaction force motor 40 is not generated, and when the reaction force from the reaction force ECU 46 is increased. When the reaction force generation command Sr is not output to the motor 40, switching between both maps is permitted.
- permission conditions can be used in combination as appropriate, and other permission conditions may be set.
- step S2 When switching between both maps is permitted (S1: YES), the process proceeds to step S2, and when switching between both maps is not permitted (S1: NO), the process proceeds to step S10.
- step S2 the reaction force ECU 46 acquires the remaining amount (SOC) of the battery 22 from the SOC sensor 24.
- the reaction force ECU 46 determines whether or not the remaining amount of the battery 22 is large. Specifically, it is determined whether or not the SOC acquired in step S2 exceeds a predetermined value (SOC threshold value THsoc).
- step S4 the reaction force ECU 46 selects the large remaining amount map (FIG. 2).
- step S ⁇ b> 5 the reaction force ECU 46 acquires the vehicle speed V from the vehicle speed sensor 44.
- step S6 the reaction force ECU 46 sets the remaining amount threshold value (first to third reaction force increase threshold values TH1, TH2, TH3) from the relationship with the vehicle speed V in the remaining amount amount map. As is apparent from FIG. 2, depending on the vehicle speed V, one or more of the first to third reaction force increase thresholds TH1, TH2, and TH3 may not be set.
- step S7 the reaction force ECU 46 selects the small remaining amount map (FIG. 3).
- step S ⁇ b> 8 the reaction force ECU 46 acquires the vehicle speed V from the vehicle speed sensor 44.
- step S9 the reaction force ECU 46 sets the remaining amount threshold (fourth and fifth reaction force increase thresholds TH4 and TH5) from the relationship with the vehicle speed V in the remaining amount map. As is apparent from FIG. 3, depending on the vehicle speed V, either one or both of the fourth and fifth reaction force increase thresholds TH4 and TH5 may not be set.
- step S10 the reaction force ECU 46 acquires the pedal opening degree ⁇ from the opening degree sensor 38.
- step S11 the reaction force ECU 46 determines whether or not the pedal opening degree ⁇ acquired in step S10 is greater than or equal to the remaining amount large threshold set in step S6 or the remaining amount small threshold set in step S9. .
- the pedal opening degree ⁇ is equal to or larger than the threshold value (high remaining amount threshold value or low residual amount threshold value) set in step S6 or S9 (S11: YES)
- the pedal reaction force Fr is increased in step S12.
- the pedal opening ⁇ and the first and second The reaction force increase thresholds TH1 and TH2 are compared.
- the reaction force ECU 46 increases the pedal reaction force Fr by one step (see FIGS. 4 and 5).
- the reaction force ECU 46 increases the pedal reaction force Fr by two steps (see FIG. 4).
- the reaction force ECU 46 uses a normal pedal reaction force Fr (see FIGS. 4 and 5).
- the pedal opening degree ⁇ and the fourth reaction force increase threshold value TH4 are set. Compare. When the pedal opening degree ⁇ is equal to or greater than the fourth reaction force increase threshold TH4, the reaction force ECU 46 increases the pedal reaction force Fr by one step (see FIG. 6). When the pedal opening ⁇ is not equal to or greater than the fourth reaction force increase threshold TH4, the reaction force ECU 46 uses a normal pedal reaction force Fr (see FIG. 6).
- the traveling motor 16 is not driven. For this reason, it becomes possible to suppress the power consumption of the battery 22 accompanying the drive of the traveling motor 16.
- the charge promotion assist threshold TH4 is set within a charge promotion region in which the power generation amount of the alternator 18 is maximized when the engine 14 is driven by fuel per unit amount.
- the amount of power generated by the alternator 18 can be relatively increased. Accordingly, charging of the battery 22 can be promoted.
- ENG traveling all cylinder operating state
- cylinder deactivation traveling in which only some cylinders of the engine 14 are activated.
- the cylinder deactivation travel (cylinder deactivation state) is set in a region higher than the vehicle speed V at which the MOT travel (third travel state) is set (FIG. 2).
- the reaction force ECU 46 (a part of the reaction force applying means) is a cylinder that increases the pedal reaction force Fr before switching between cylinder deactivation travel (cylinder deactivation state) and ENG travel (all cylinder operation state).
- the pause assist thresholds TH3 and TH5 are set. As a result, it is possible to notify the driver of switching between cylinder deactivation travel and ENG travel. As a result, for example, it becomes possible for the driver to improve fuel efficiency by trying to maintain cylinder deactivation.
- the cylinder deactivation assist threshold TH3 is set lower than the high efficiency output assist threshold TH2 (first accelerator pedal opening threshold), and the cylinder deactivation assist threshold TH5 is set as the charge acceleration assist threshold TH4 (first accelerator pedal open). Is set lower than (degree threshold). Thereby, it is possible to apply the pedal reaction force Fr based on energy efficiency.
- the MOT travel assist threshold TH1 (second accelerator pedal opening threshold) and the cylinder deactivation assist threshold TH3 are set based on the pedal opening ⁇ (required driving force Freq) and the vehicle speed V (FIG. 2).
- the threshold value TH1 and the threshold value TH3 are switched according to the vehicle speed V, continuous values are set to the threshold value TH1 and the threshold value TH3 (FIG. 2).
- the pedal reaction force Fr does not change greatly, and it is possible to prevent the driver from feeling uncomfortable.
- the travel control device 12 is mounted on the vehicle 10 having the engine 14 and the travel motor 16 as the drive source (the one that generates the driving force).
- the travel control device 12 includes a plurality of drive sources. If it is the vehicle 10 which switches a drive state according to a user's operation, it will not restrict to this.
- the travel motor 16 in a configuration in which the travel motor 16 is directly connected to the engine 14 to drive drive wheels (for example, front wheels), another travel motor that drives another drive wheel (for example, rear wheels).
- One or two (second traveling motors) may be provided.
- the present invention may be applied to a four-wheel drive hybrid vehicle. In this case, in “ENG + MOT traveling”, the engine 14 may be assisted by the second traveling motor.
- traveling motor 16 when the engine 14 is being driven, the travel motor 16 stops driving (ENG travel) or is driven together with the engine 14 (ENG + MOT travel). Regeneration or power generation may be performed. In other words, the traveling motor 16 may serve as the alternator 18.
- the charge promotion assist threshold TH4 can be set, for example, in a region where the power generation amount of the travel motor 16 is equal to or greater than a predetermined power generation amount threshold when the engine 14 is driven by fuel per unit amount.
- the accelerator pedal 34 is held at or near the charge promotion assist threshold TH4
- the amount of power generated by the travel motor 16 can be relatively increased. Accordingly, charging of the battery 22 can be promoted.
- the traveling motor 16 can also regenerate or generate electric power by the driving force of the engine 14 to charge the battery 22.
- Switching of running state [3-1. Characteristics according to the remaining amount of the battery 22]
- the switching characteristics of the running states (MOT running, ENG running, ENG + MOT running, and cylinder deactivation running) are set separately for two cases when the remaining amount of the battery 22 is large and small (FIG. 2 and FIG. 2). 3), if a plurality of driving state switching characteristics are set according to the remaining amount of the battery 22, three or more characteristics can be provided.
- MOT travel, ENG travel, ENG + MOT travel, and cylinder deactivation travel are set as switching characteristics when the remaining amount of the battery 22 is large (FIG. 2), and as switching characteristics when the remaining amount of the battery 22 is small.
- ENG travel, ENG + MOT travel, and cylinder deactivation travel were set (FIG. 3).
- the combination of switching characteristics is not limited to this.
- a combination of MOT traveling, ENG traveling and ENG + MOT traveling, a combination of ENG traveling and ENG + MOT traveling, or a combination of MOT traveling and ENG + MOT traveling may be set.
- a combination of ENG traveling and ENG + MOT traveling may be set.
- FIG. 8 shows a modified example of the relationship between the pedal opening ⁇ and the pedal reaction force Fr when the pedal opening ⁇ is increased and then the pedal opening ⁇ is decreased when the remaining amount of the battery 22 is large.
- the switching characteristics of the running state are set according to the vehicle speed V and the pedal opening ⁇ (required driving force Freq).
- the setting of the switching characteristic is not limited to this as long as it is set according to the pedal opening degree ⁇ (required driving force Freq).
- MOT travel assist threshold TH1 In the above embodiment, the MOT travel assist threshold value TH1 is used. However, for example, when attention is paid to the use of the high efficiency output assist threshold value TH2 and the charge acceleration assist threshold value TH4, a configuration in which the MOT travel assist threshold value TH1 is not used is also possible.
- the threshold value similar to the MOT travel assist threshold value TH1 is not used (FIG. 3). It is also possible to set a threshold value similar to the threshold value TH1.
- the high-efficiency output assist threshold TH2 and the charge acceleration assist threshold TH4 for notifying the switching from ENG traveling to ENG + MOT traveling are set as values in the high-efficiency power generation region (charging promotion region).
- the present invention is not limited to this as long as it is a value that informs switching from ENG traveling to ENG + MOT traveling. For example, a value immediately before switching from ENG traveling to ENG + MOT traveling may be set.
- both the high-efficiency output assist threshold value TH2 and the charge acceleration assist threshold value TH4 that notify the switching from the ENG traveling to the ENG + MOT traveling are used, but only one of them can be used. .
- the high-efficiency output assist threshold TH2 and the charge acceleration assist threshold TH4 are regions (high-efficiency power generation region or charge acceleration region) in which the energy torque obtained from fuel per unit amount (for example, 1 cc) is maximized.
- it may be set by another method.
- both threshold values TH2 and TH4 are obtained from the relationship between the pedal opening degree ⁇ (required driving force Freq) and the vehicle speed V, or the best fuel consumption point obtained based on the net fuel consumption rate (BSFC) or The pedal opening degree ⁇ within the best fuel consumption range can be set as the thresholds TH2 and TH4.
- the thresholds TH2 and TH4 are set corresponding to the best fuel consumption point P1. can do.
- Other values within the best fuel efficiency region R1 may be set as the thresholds TH2 and TH4.
- the pedal opening degree ⁇ is the threshold value TH2 or TH4
- the required driving force Freq is Freq1
- the driving force that contributes to the traveling of the vehicle 10 is Freq2.
- the driving force (Freq1-Freq2) which is the difference between Freq1 and Freq2 can be used for power generation by the traveling motor 16 or driving of the alternator 18.
- the best fuel efficiency region R1 and the best fuel efficiency point P1 obtained based on the BSFC change according to the vehicle speed V and the required driving force Freq ( ⁇ the torque of the engine 14), and are shown as an optimal fuel efficiency curve C1 in FIG.
- a line shown together with “WOT” is a line showing a relationship between the vehicle speed V and the required driving force Freq in the WOT (Wide Open Throttle) state.
- the vehicle speed V in FIG. 9 may be replaced with, for example, the engine speed [rpm].
- the required driving force Freq in FIG. 9 can be replaced with, for example, the torque of the engine 14.
- the relationship between the pedal opening degree ⁇ and the vehicle speed V or the relationship between the pedal opening degree ⁇ and the engine speed may be changed according to the gear ratio (speed stage).
- the high-efficiency output assist threshold TH2 and the charge acceleration assist threshold TH4 are set based on the relationship between the vehicle speed V and the pedal opening degree ⁇ (required driving force Freq) (FIGS. 2 and 3).
- the thresholds TH2 and TH4 may be set based on other relationships as long as the battery voltage is high or the battery 22 can be charged.
- Both thresholds TH2 and TH4 can be set according to the relationship with the throttle valve opening, or the relationship between the gear ratio (speed), the engine speed, the pedal opening ⁇ or the throttle valve opening.
- the cylinder deactivation assist threshold TH3 is set to a region where the vehicle speed V is higher than the MOT travel assist threshold TH1 (TH1 on the left side in FIG. 2).
- the present invention is not limited to this.
- the cylinder deactivation assist threshold value TH3 may be set in a region where the pedal opening degree ⁇ (required driving force Freq) is higher than the MOT travel assist threshold value TH1 (TH1 on the left side in FIG. 2).
- the MOT travel assist threshold value TH1 and the cylinder deactivation assist threshold value TH3 are set to continuous values according to the vehicle speed V (FIG. 2), but they are not necessarily set to continuous values.
- the cylinder deactivation assist thresholds TH3 and TH5 are used, but only one of them can be used.
- a configuration in which neither the cylinder deactivation assist threshold TH3 nor TH5 is used is possible.
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Abstract
Description
1.車両10の構成
[1-1.全体構成]
図1は、この発明の一実施形態に係る車両用走行制御装置12(以下「走行制御装置12」又は「制御装置12」という。)を搭載した車両10のブロック図である。車両10は、いわゆるハイブリッド車両であり、駆動源として、エンジン14及び走行モータ16(以下「モータ16」ともいう。)を有する。
アクセルペダル34は、駆動源の出力を制御するものであり、ペダル側アーム36に固定されている。ペダル側アーム36は、旋回可能な状態で図示しないリターンスプリングに連結されている。これにより、運転者がアクセルペダル34を戻すとき、アクセルペダル34は前記リターンスプリングからの付勢力(スプリング反力Fr_sp)により原位置まで戻される。
エンジン14(内燃機関)は、車両10の走行用の駆動源として駆動力Fe[N](又はトルク[N・m])を生成して図示しない駆動輪側に供給すると共に、オルタネータ18を作動させて電力を発生させる。オルタネータ18で発生した電力(以下「発電電力Pgen」という。)[W]は、バッテリ22、図示しない12ボルト系又は補機等に供給される。本実施形態のエンジン14は、8気筒型であり、一部の気筒のみを作動させ、その他の気筒を作動させない気筒休止運転が可能である。
[2-1.駆動源の切替え]
(2-1-1.概要)
本実施形態では、駆動源の選択(車両10の走行状態の選択)として、車速Vと走行モータ16の要求駆動力Freq[N](又は要求トルク[N・m])に応じて走行モータ16のみの作動による走行(以下「MOT走行」という。)と、エンジン14のみの作動(ここでは全気筒の作動)による走行(以下「ENG走行」という。)と、走行モータ16及びエンジン14両方の作動による走行(以下「ENG+MOT走行」という。)と、エンジン14のみの作動(気筒休止状態での作動)による走行(以下「気筒休止走行」という。)とが可能である。当該切替えは、車速V、バッテリ22の残量(SOC)及びペダル開度θに応じて行う。ペダル開度θは、実質的に走行モータ16の要求駆動力Freqを示すものとして扱うことができる。
図2は、バッテリ22の残量が大きいときの駆動源の選択特性(残量大用マップ)を示す図である。ここにいう「残量が大きいとき」とは、例えば、走行モータ16のみによる走行に回すのに十分な電力をバッテリ22が有していることを意味し、当該残量の具体的な値は、走行モータ16の仕様等に応じて適宜設定することが可能である。
図3は、バッテリ22の残量が小さいときに用いる駆動源の選択特性(残量小用マップ)を示す図である。ここにいう「残量が小さいとき」とは、例えば、走行モータ16のみによる走行に回すのに十分な電力をバッテリ22が有していないことを意味し、当該残量の具体的な値は、走行モータ16の仕様等に応じて適宜設定することが可能である。
本実施形態では、運転者が好適に駆動源(エンジン14及び走行モータ16)を選択することができるようにペダル反力Frを用いてアクセルペダル34の操作を誘導する。
(2-2-1-1.MOT走行アシスト)
一般に、車両10が低速であり且つ要求駆動力Freqが低いときはエンジン14での走行は燃費効率が低く、走行モータ16での走行の方がエネルギ効率が高い。そこで、本実施形態では、バッテリ22の残量が大きい状態で、車両10が低速であり且つ要求駆動力Freqが低ければ、MOT走行を選択する(図2)。この場合、MOT走行とENG走行とが切り替わるペダル開度θにおいてペダル反力Frを増大させ、運転者にMOT走行とENG走行とが切り替わるペダル開度θを知らせる。これにより、MOT走行の選択を促す。
車両10の急加速等のため、車両10の出力を大きくするためには、エンジン14と走行モータ16の両方を同時に作動させることが考えられる。その一方、エンジン14と走行モータ16の両方を同時に作動させると、エネルギ効率が低くなることが通常である。そこで、エネルギ効率の観点からすれば、可能な限り、エンジン14と走行モータ16の両方を同時に作動させることを避けることが好ましい。このため、本実施形態では、バッテリ22の残量が大きい場合、ENG走行とENG+MOT走行とが切り替わるペダル開度θよりも小さいペダル開度θにおいてペダル反力Frを増大させ、運転者にENG走行とENG+MOT走行とが切り替わるペダル開度θを知らせる。これにより、ENG+MOT走行の選択を避けることを促す。
車両10が高速走行している場合であっても、要求駆動力Freqが低い場合、気筒休止運転を行うことにより燃費を改善することが可能となる。このため、燃費の観点からすれば、全気筒運転よりも気筒休止運転をする方が好ましい。そこで、本実施形態では、バッテリ22の残量が大きい場合、気筒休止走行とENG走行とが切り替わる手前のペダル開度θにおいてペダル反力Frを増大させ、運転者に気筒休止とENG走行とが切り替わるペダル開度θを知らせる。これにより、気筒休止走行の選択を促す。
図4は、バッテリ22の残量が大きい場合において、ペダル開度θを増加させ、その後、ペダル開度θを減少させた場合のペダル開度θとペダル反力Frの関係の第1例を示す図である。
(2-2-2-1.充電促進アシスト)
バッテリ22の残量が小さい場合、バッテリ22を充電することが望まれる。そこで、本実施形態では、バッテリ22の残量が小さい場合、エンジン14によるオルタネータ18の発電効率が高くなり、バッテリ22を充電し易くなるペダル開度θにおいてペダル反力Frを増大させる。これにより、運転者にMOT走行とENG走行とが切り替わるペダル開度θを知らせると共に、バッテリ22の急速な充電を促す。
図3の線TH5は、図2の気筒休止アシスト閾値TH3(第3反力増大閾値TH3)と同様、気筒休止走行からENG走行に切り替わる手前において、ペダル反力Frを急激に増加させるための閾値(以下「気筒休止アシスト閾値TH5」、「第5反力増大閾値TH5」又は「閾値TH5」という。)を示す。なお、以下では、第4・第5反力増大閾値TH4、TH5を「残量小用閾値」と総称する。
図6は、バッテリ22の残量が小さい場合において、ペダル開度θを増加させ、その後、ペダル開度θを減少させた場合のペダル開度θとペダル反力Frの関係の一例を示す図である。
図7は、反力ECU46がペダル反力Frを設定するフローチャートである。ステップS1において、反力ECU46は、反力大用マップ(図2)と反力小用マップ(図3)の切替えを許可するか否かを判定する。両マップの切替えを常に許可することとすると、運転者に違和感を与える可能性もある。そこで、本実施形態では、両マップの切替えは、所定の条件が満たされるときのみ行う。具体的には、ペダル開度θがゼロであるとき(すなわち、アクセルペダル34が原位置にあるとき)、反力モータ40によるペダル反力Frが生成されていないとき及び反力ECU46から反力モータ40に対して反力生成指令Srが出力されていないときに両マップの切替えを許可する。これらの許可条件は、適宜組み合わせて用いることが可能であり、また、別の許可条件を設定してもよい。
以上のように、本実施形態によれば、バッテリ22の残量が小さい場合(図7のS3:NO)、エンジン14のみで車両10を走行させるENG走行(第1走行状態)からエンジン14及び走行モータ16で車両10を走行させるENG+MOT走行(第2走行状態)に切り替わる手前、すなわち、ENG走行中にペダル反力Frを増大させる(図3)。このため、ペダル反力Frが増大するペダル開度θ(充電促進アシスト閾値TH4)を超えてアクセルペダル34を踏み込んだ場合には、エンジン14及び走行モータ16により車両10を走行させることが可能となる。これにより、運転者の加速意図に応じた大きな駆動力を発生させることが可能となる。
なお、この発明は、上記実施形態に限らず、この明細書の記載内容に基づき、種々の構成を採り得ることはもちろんである。例えば、以下の構成を採用することができる。
上記実施形態では、駆動源(駆動力を生成するもの)としてエンジン14及び走行モータ16を有する車両10に走行制御装置12を搭載したが、複数の駆動源を有し、当該駆動源の駆動状態をユーザの操作に応じて切り替える車両10であれば、これに限らない。例えば、図1のように走行モータ16がエンジン14に直結して駆動輪(例えば、前輪)を駆動している構成において、さらに別の駆動輪(例えば、後輪)を駆動する別の走行モータ(第2走行モータ)を1つ又は2つ設けてもよい。換言すると、四輪駆動のハイブリッド車両にこの発明を適用してもよい。この場合、「ENG+MOT走行」においては、当該第2走行モータによってエンジン14をアシストしてもよい。
上記実施形態では、エンジン14が駆動中である場合、走行モータ16は駆動を止めるか(ENG走行)又はエンジン14と共に駆動した(ENG+MOT走行)が、エンジン14の駆動力を用いて走行モータ16を回生又は発電させてもよい。換言すると、走行モータ16にオルタネータ18の役割を担わせてもよい。この場合、充電促進アシスト閾値TH4は、例えば、単位量当たりの燃料によりエンジン14が駆動することで走行モータ16の発電量が所定の発電量閾値以上となる領域内で設定することができる。これにより、アクセルペダル34を充電促進アシスト閾値TH4又はその近傍で保持した場合、走行モータ16による発電量を相対的に多くすることが可能となる。従って、バッテリ22への充電を促進することが可能となる。
[3-1.バッテリ22の残量に応じた特性]
上記実施形態では、走行状態(MOT走行、ENG走行、ENG+MOT走行及び気筒休止走行)の切替え特性を、バッテリ22の残量が大きい場合と小さい場合の2つに分けて設定したが(図2及び図3)、走行状態の切替え特性の設定は、バッテリ22の残量に応じて複数設ければ、3つ以上の特性を設けることもできる。
上記実施形態(図2及び図3)では、走行状態(MOT走行、ENG走行、ENG+MOT走行及び気筒休止走行)の切替え特性を、車速Vとペダル開度θ(要求駆動力Freq)に応じて設定したが、切替え特性の設定は、ペダル開度θ(要求駆動力Freq)に応じて設定するものであれば、これに限らない。例えば、ペダル開度θ(要求駆動力Freq)のみに応じて設定してもよい。或いは、ペダル開度θ(要求駆動力Freq)と加速度[km/h/s]に応じて設定することもできる。
上記実施形態では、MOT走行アシスト閾値TH1を用いたが、例えば、高効率出力アシスト閾値TH2及び充電促進アシスト閾値TH4の利用に着目すれば、MOT走行アシスト閾値TH1を用いない構成も可能である。
上記実施形態(図2及び図3)では、ENG走行からENG+MOT走行への切替えを知らせる高効率出力アシスト閾値TH2及び充電促進アシスト閾値TH4を高効率発電領域(充電促進領域)内の値として設定したが、ENG走行からENG+MOT走行への切替えを知らせる値であれば、これに限らない。例えば、ENG走行からENG+MOT走行への切替え直前の値を設定してもよい。
上記実施形態では、気筒休止アシスト閾値TH3をMOT走行アシスト閾値TH1(図2の左側のTH1)よりも車速Vが高い領域に設定した。しかしながら、MOT走行(第3走行状態)と気筒休止走行(気筒休止状態)との切替えの観点からすれば、これに限らない。例えば、気筒休止アシスト閾値TH3をMOT走行アシスト閾値TH1(図2の左側のTH1)よりもペダル開度θ(要求駆動力Freq)が高い領域に設定してもよい。
Claims (10)
- 車両(10)を走行させる第1駆動力を駆動輪側に供給する電動機(16)と、
前記車両(10)を走行させる第2駆動力を前記駆動輪側又は前記電動機(16)側に供給する内燃機関(14)と、
前記電動機(16)に電力を供給する充放電可能な蓄電装置(22)と、
アクセルペダル(34)に反力を付与する反力付与手段(40、46)と
を有する車両用走行制御装置(12)であって、
前記車両(10)の運転状態として、前記内燃機関(14)のみで前記車両(10)を走行させる第1走行状態と、前記内燃機関(14)及び前記電動機(16)で前記車両(10)を走行させる第2走行状態とを設定し、
前記アクセルペダル(34)の開度を含む車両情報に基づいて前記第1走行状態及び前記第2走行状態を互いに切り替え、
前記第1走行状態は、前記第2走行状態よりも小さい前記アクセルペダル(34)の開度に対応させて設定し、
さらに、前記車両用走行制御装置(12)は、前記蓄電装置(22)の電力残量を検出する電力残量検出手段(24)を備え、
前記電力残量検出手段(24)により検出された前記電力残量が第1所定値を下回る場合、前記反力付与手段(40、46)は、前記第1走行状態から前記第2走行状態に切り替わる手前で、前記アクセルペダル(34)への反力を増大させる第1アクセルペダル開度閾値を設定する
ことを特徴とする車両用走行制御装置(12)。 - 請求項1記載の車両用走行制御装置(12)において、
前記内燃機関(14)の駆動に応じて発電し、発電した電力を前記蓄電装置(22)に充電する発電機(18)を備え、
前記第1アクセルペダル開度閾値は、単位量当たりの燃料により前記内燃機関(14)が駆動することで前記発電機(18)の発電量が第1発電量閾値以上となる領域内で設定される
ことを特徴とする車両用走行制御装置(12)。 - 請求項1又は2記載の車両用走行制御装置(12)において、
さらに、前記電動機(16)の駆動及び回生又は発電を制御する電動機制御手段(26)を備え、
前記電動機(16)は、前記内燃機関(14)の駆動に応じて回生又は発電し、回生又は発電した電力を前記蓄電装置(22)に充電し、
前記電動機制御手段(26)は、前記第1走行状態の際、前記内燃機関(14)により前記電動機(16)に回生又は発電を実行させ、
前記第1アクセルペダル開度閾値は、単位量当たりの燃料により前記内燃機関(14)が駆動することで前記電動機(16)の発電量が第2発電量閾値以上となる領域内で設定される
ことを特徴とする車両用走行制御装置(12)。 - 請求項1~3のいずれか1項に記載の車両用走行制御装置(12)において、
前記車両(10)の運転状態として、前記電動機(16)のみで前記車両(10)を走行させる第3走行状態を前記第1走行状態よりも小さい前記アクセルペダル(34)の開度に対応させて設定し、
前記電力残量検出手段(24)により検出された前記電力残量が第2所定値を上回ると検出された場合、前記反力付与手段(40、46)は、前記第3走行状態から前記第1走行状態に切り替わる手前で、前記アクセルペダル(34)への反力を増大させる第2アクセルペダル開度閾値を設定する
ことを特徴とする車両用走行制御装置(12)。 - 請求項4記載の車両用走行制御装置(12)において、
前記電力残量が前記第2所定値を上回るとき、前記第3走行状態の利用を許可し、
前記電力残量が前記第2所定値を下回るとき、前記第3走行状態の利用を禁止し、
前記電力残量が前記第2所定値を上回るときの制御と前記電力残量が前記第2所定値を下回るときの制御との切替えは、前記アクセルペダル(34)の開度がゼロであるとき、前記反力付与手段(40、46)による前記反力が生成されていないとき又は前記反力付与手段(40、46)において反力生成指令が出力されていないときに実行する
ことを特徴とする車両用走行制御装置(12)。 - 請求項1~5のいずれか1項に記載の車両用走行制御装置(12)において、
前記第1走行状態として、前記内燃機関(14)の全気筒を作動させる全気筒作動状態と、前記内燃機関(14)の一部の気筒のみを作動させる気筒休止状態とが設定される
ことを特徴とする車両用走行制御装置(12)。 - 請求項4又は5に従属する請求項6記載の車両用走行制御装置(12)において、
前記気筒休止状態は、前記第3走行状態が設定される車速よりも高い領域で設定される
こと特徴とする車両用走行制御装置(12)。 - 請求項6又は7記載の車両用走行制御装置(12)において、
前記反力付与手段(40、46)は、前記気筒休止状態と前記全気筒作動状態とが切り替わる手前で、前記アクセルペダル(34)ヘの反力を増大させる気筒休止アシスト閾値を設定する
ことを特徴とする車両用走行制御装置(12)。 - 請求項8に記載の車両用走行制御装置(12)において、
前記気筒休止アシスト閾値は、前記第1アクセルペダル開度閾値より低く設定される
ことを特徴とする車両用走行制御装置(12)。 - 請求項4若しくは5に従属する請求項6に従属する請求項8若しくは請求項7に従属する請求項8又は請求項9記載の車両用走行制御装置(12)において、
前記第2アクセルペダル開度閾値及び前記気筒休止アシスト閾値は、前記アクセルペダル(34)の開度、前記車両(10)の要求駆動力若しくは実駆動力又はスロットル弁開度と、車速又は前記内燃機関(14)の回転数とに基づいて設定され、
前記第2アクセルペダル開度閾値及び前記気筒休止アシスト閾値が前記車速又は前記内燃機関(14)の回転数に応じて切り替わる際、前記第2アクセルペダル開度閾値及び前記気筒休止アシスト閾値には、連続した値が設定される
ことを特徴とする車両用走行制御装置(12)。
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JP5898354B2 (ja) | 2016-04-06 |
US9145130B2 (en) | 2015-09-29 |
CN103958303B (zh) | 2016-08-31 |
US20140323265A1 (en) | 2014-10-30 |
DE112012004922T5 (de) | 2014-08-14 |
JPWO2013077143A1 (ja) | 2015-04-27 |
JP5756185B2 (ja) | 2015-07-29 |
DE112012004922B4 (de) | 2019-06-27 |
JP2015171888A (ja) | 2015-10-01 |
CN103958303A (zh) | 2014-07-30 |
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